Automatic pill grasping apparatus and method

ABSTRACT

A pill grasping method comprises rotating a grasping arm with a nozzle to a predetermined initial position driven by a driving mechanism, rotating a number of pill storage cases to position one of the pill storage cases with a set number of pills to a predetermined grasping pill position driven by an actuating mechanism, rotating the grasping arm to enter into the corresponding pill storage case, starting a pump to generate a vacuum in the nozzle for sucking a pill, and determining if an actual pressure value in a pipe connecting the nozzle to the pump is less than a predetermined pressure value. The grasping arm is rotated to the predetermined initial position when the actual pressure value is less than the predetermined pressure value.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims priority to Taiwan Patent Application No.102127189 filed on Jul. 29, 2013 in the Taiwan Intellectual PropertyOffice, the contents of which are hereby incorporated by reference.Relevant subject matter is disclosed in co-pending U.S. patentapplications entitled “AUTOMATIC PILL GRASPING APPARATUS”, AttorneyDocket Number US51874, U.S. application Ser. No. [to be advised], filedon the same day as the present application.

FIELD

The present disclosure generally relates to an automatic pill graspingapparatus and method.

BACKGROUND

Automatic pill grasping apparatuses are commonly used to helpindividuals, such as the elderly or chronically ill, take medication ata given date and time. Pill dispensers often include a pill storage casefor storing solid pills, and a pill grasping mechanism for graspingpills from the pill storage case.

BRIEF DESCRIPTION OF THE DRAWINGS

Many aspects of the embodiments can be better understood with referenceto the following drawings. The components in the drawings are notnecessarily drawn to scale, the emphasis instead being placed uponclearly illustrating the principles of the embodiments. Moreover, in thedrawings, like reference numerals designate corresponding partsthroughout the several views.

FIG. 1 is an isometric, exploded view of an embodiment of an automaticpill grasping apparatus.

FIG. 2 is similar to FIG. 1, but showing the automatic pill graspingapparatus from another angle.

FIG. 3 is an assembled view of the automatic pill grasping apparatus ofFIG. 1.

FIG. 4 is a block diagram view of the automatic pill grasping apparatus.

FIG. 5 is an isometric view of an embodiment of a grasping arm and apill storage case.

FIG. 6 is similar to FIG. 5, but viewed from another aspect.

FIG. 7 is an exploded view of the grasping arm and the pill storage caseof FIG. 5.

FIG. 8 illustrates the grasping arm being in a predetermined position.

FIG. 9 illustrates the grasping arm starting being rotated in a counterclockwise direction.

FIG. 10 illustrates the grasping arm continues to be rotated in acounter clockwise direction, and a nozzle being in a high position.

FIG. 11 illustrates the grasping arm continues to be rotated in acounter clockwise direction, and a nozzle being in a middle position.

FIG. 12 illustrates the grasping arm continues to be rotated in acounter clockwise direction, and a nozzle being in a low level.

FIG. 13 illustrates the grasping arm continues to be rotated in acounter clockwise direction, and a nozzle being in a lowest level.

FIG. 14 illustrates the grasping arm continues to be rotated in aclockwise direction, and a nozzle being the lowest level.

FIG. 15 illustrates the grasping arm continues to be rotated in aclockwise direction, and a nozzle being the low level.

FIG. 16 illustrates the grasping arm continues to be rotated in aclockwise direction, and a nozzle being the bottom level.

FIG. 17 illustrates the grasping arm continues to be rotated in aclockwise direction, and a nozzle being the high level.

FIG. 18 illustrates the grasping arm continues to be rotated in aclockwise direction, and a nozzle being left the pill storage case.

FIG. 19 illustrates the grasping arm continues to be rotated in aclockwise direction, and a nozzle being the high level.

FIGS. 20-22 are a flowchart of one embodiment of a method of grasping apill.

DETAILED DESCRIPTION

The disclosure is illustrated by way of example and not by way oflimitation in the figures of the accompanying drawings in which likereferences indicate similar elements. It should be noted that referencesto “an” or “one” embodiment in this disclosure are not necessarily tothe same embodiment, and such references mean “at least one.”

FIGS. 1-5 illustrate an embodiment of an automatic pill graspingapparatus. The automatic pill grasping apparatus includes an enclosure100, a controlling chip 200, a pill storage mechanism 300, a pillgrasping mechanism 400, a humidity detecting module 500, a pill sensingmodule 800, and a user interface 900. The user interface 900 iselectrically connected to the controlling chip 200, to allow a user toset a time and dose of taking pills. The enclosure 100 includes a base110, a bracket 120 engaged with the base 110, and a top cover 130covering the bracket 120.

The controlling chip 200 includes a controlling unit 210, a torsionforce obtaining unit 220, a time recording unit 230, a torsion forcedetermining unit 240, a time determining unit 250, a pressuredetermining unit 260, and a humidity determining unit 270.

The pill storage mechanism 300 is installed on the base 110 and includesa tray 320, a plurality of pill storage cases 50, a pill output case 53,an actuating mechanism 330, and a shaking member 340. The plurality ofpill storage cases 50 can store a plurality of pills (not shown), andeach of the plurality of pill storage cases 50 has a bar code 57 with aninitial number of pills and pill species. The tray 320 is rotatablyinstalled on the base 110 and used to rotate the plurality of pillstorage cases 50 and the pill output case 53. The shaking member 340 issecured to the base 310 and can shake one pill storage case 50 at atime. The actuating mechanism 330 includes a first motor 331 and aplurality of first gears 333. The first motor 331 can drive theplurality of first gears 333, and the plurality of first gears 333 isrotatable to rotate the tray 320. Each pill storage case 50 includes aninterior wall 51 which forms a storage cavity 53 (shown in FIG. 8) forstoring pills. The pill storage case 50 defines a pill opening 52 forallowing access to the storage cavity 53 of the pill storage case 50.The pill output case 53 communicates with outside of the enclosure 100,and the pills can drop out of the enclosure 100 from the pill outputcase 53.

The pill sensing module 800 includes a code reader 810 and a counter820. The code reader 810 can obtain an initial number of pills of eachof the pill storage cases 50 before grasping the pills. The counter 520can decrement one from the initial number after the pill graspingmechanism 400 picks one pill.

The humidity detecting module 500 includes a moisture absorber 510 and amoisture sensor 520. The moisture sensor 520 can sense an actualmoisture value of the enclosure 100. The humidity determining unit 270can determine if the actual moisture value is greater than apredetermined moisture value. The moisture absorber 510 can absorbmoisture in the enclosure 100 when the actual moisture value is greaterthan the predetermined moisture value.

Referring to FIGS. 1-5, in at least one embodiment, the pill graspingmechanism 400 includes a grasping arm 10, a nozzle 13 secured to thegrasping arm 10, a filter 420, a pump 430, a pressure sensor 440, and adriving mechanism 450. The pump 430 can produce a vacuum in the nozzle13 so that the nozzle 13 can suck pills. The filter 420 is connected tothe pump 430 and the nozzle 13 by a pipe 470 and can filter the vacuumgenerated by the pump 430. The pressure sensor 440 can sense an actualpressure value of the pipe 470.

The driving mechanism 450 includes a second motor 441 and a plurality ofsecond gears 443. The second motor 441 can rotate the plurality ofsecond gears 443. The plurality of second gears 443 can rotate thegrasping arm 10.

FIGS. 5-7 show that the grasping arm 10 includes a main arm 11, alinkage mechanism 12, a holder 124, a transfer mechanism 14, a firstblocking member 16, a second blocking member 15, and a position sensor17.

The main arm 11 is rotatable about a first axis 31 and includes a mainbody 111, an installation portion 112, a breaking portion 113, and acontacting portion 114. The main body 111 defines a through hole 1111.The through hole 1111 is cooperatively bound by two opposite straightwalls and two opposite curved walls of the main body 111. Theinstallation portion 112 extends from an upper end of the main body 111,and the breaking portion 113 extends from a lower end of the main body111. The installation portion 112 is substantially perpendicular to themain body 111. The contacting portion 114 extends from the lower end ofthe main body 111 and is adjacent to the breaking portion 113.

The transfer mechanism 14 includes a transfer cam 141, a driving shaft142, and a driving wheel 143. The transfer cam 141 is rotatable about asecond axis 32. An end portion of the transfer cam 141 defines a fixinghole 1411. A first end of the driving shaft 142 is received into thefixing hole 1411, so that the driving shaft 142 is fixed to the transfercam 141 and can be rotated about the second axis 32 by the transfer cam141. The driving shaft 142 is substantially perpendicular to thetransfer cam 141. The driving wheel 143 is mounted to a second endportion of the driving shaft 142 and is rotatable about the drivingshaft 142. The second axis 32 is higher than the first axis 31. Thetransfer cam 141 defines one or more slots 1413 for connecting to amotor (not shown), such that the transfer cam 141 can be rotated aboutthe second axis 32 by the motor.

The second end portion of the driving shaft 142 is received into thethrough hole 1111 of the main body 111. Thus, the driving wheel 143 isreceived into the through hole 1111 of the main body 111. When thedriving shaft 142 is rotated by the transfer cam 141 about the secondaxis 32, the driving wheel 143 is rolled along an inner wall of thethrough hole 1111 of the main body 111, and drives the main body 111 torotate about the first axis 31.

The linkage mechanism 12 includes a first linkage arm 121, a secondlinkage arm 122, and a third linkage arm 123.

The first linkage arm 121 includes a first connecting end portion 1211,a first pivot portion 1212, and a contacting end portion 1213. The firstpivot portion 1212 is pivotably coupled to the installation portion 112of the main arm 11. The first linkage arm 121 is rotatable about a thirdaxis 33. The first connecting end 1211 and the contacting end 1213 arelocated at opposite sides of the first pivot portion 1212. Thecontacting end 1213 includes a protrusion 1214 extending downward.

The second linkage arm 122 includes a second connecting end portion1221, a second pivot portion 1222, and a third connecting end portion1223. The second linkage arm 122 is substantially triangular. The secondconnecting end 1221, the second pivot portion 1222, and the thirdconnecting end 1223 are substantially three corners of a triangle. Thesecond pivot portion 1222 is pivotably coupled to the installationportion 112 of the main arm 11. The second linkage arm 122 is rotatableabout a fourth axis 34.

A first end portion of the third linkage arm 123 is pivotably coupled tothe first connecting end 1211 of the first linkage arm 121. A second endportion of the third linkage arm 123 is pivotably coupled to the secondconnecting end 1221 of the second linkage arm 122. When the firstlinkage arm 121 is rotated about the third axis 33, the third linkagearm 123 is moved by the first linkage arm 121, thus driving the secondlinkage arm 122 to rotate about the fourth axis 34.

The holder 124 includes a third pivot portion 1241, a shovel 1242, and areceiving portion 1243. The third pivot portion 1241 is pivotablycoupled to the third connecting end 1223 of the second linkage arm 1221.The holder 124 is rotatable about a fifth axis 35. The nozzle 13 isreceived and mounted in the receiving portion 1243. The shovel 1242 islocated on an outer side of the receiving portion 1243. A length of theshovel 1242 is greater than a length of the receiving portion 1243. Theshovel 1242 is substantially flat. The nozzle 13 is connected to thepump 420 to suck a pill from the pill storage case 50.

In one embodiment, the linkage mechanism 12 includes a cover 125. Thecover 125 is mounted to the second linkage arm 122 and the third linkagearm 123. The cover 125 covers a gap (not labeled) between the secondlinkage arm 122 and the third linkage arm 123 to prevent a pill fromgetting stuck in the gap.

The position sensor 17 is substantially U-shaped. The position sensor 17includes a signal transmitter 171 and a signal receiver 172. The signaltransmitter 171 and the signal receiver 172 face each other. The signaltransmitter 171 transmits a signal, e.g., an optical signal, to thesignal receiver 172. When the breaking portion 113 of the main arm 11 ismoved to a position between the signal transmitter 171 and the signalreceiver 172, the breaking portion 113 blocks signal transmissionbetween the signal transmitter 171 and the signal receiver 172, so thatthe position sensor 17 determines that the main arm 11 is in apredetermined initial position. When the breaking portion 113 of themain arm 11 is not located between the signal transmitter 171 and thesignal receiver 172, the signal transmission recommences, so theposition sensor 17 determines that the main arm 11 has left thepredetermined initial position.

When the main arm 11 is in the predetermined initial position, thecontacting portion 114 of the main arm 11 abuts against the secondblocking member 15, thereby preventing the main arm 11 from rotatingabout the first axis 31 in a clockwise direction (in FIG. 8). In oneembodiment, the second blocking member 15 is flat and horizontal.

The first blocking member 16 is located on a top wall of the pillstorage case 50 and is adjacent to the pill opening 52 of the pillstorage case 50. The first blocking member 16 includes a contactingsurface 161, which is inclined relative to the top wall 54. In oneembodiment, a lower edge of the blocking member 16 is located below thefirst axis 31, and a top edge of the blocking member 16 is located abovethe first axis 31.

When the main arm 11 is moved in a counter-clockwise direction (in FIGS.12-15) to a position where the contacting end 1213 of the first linkagearm 121 abuts against the contacting surface 161 of the first blockingmember 16, and the main arm 11 continues moving in the counter-clockwisedirection, the blocking member 16 drives the first linkage arm 121 torotate about the third axis 33 in a counter-clockwise direction, andfurther drives the third linkage arm 123 to rotate about the fourth axis34 in a counter-clockwise direction.

In some embodiments, a radius of rotation of the main arm 11 about thefirst axis 31 is three times greater than a radius of rotation of thedriving shaft 142 about the second axis 32. A vertical distance betweenthe first axis 31 and the second axis 32 is three and a half timesgreater than a horizontal distance between the first axis 31 and thesecond axis 32.

In one embodiment, the pill grasping mechanism 400 includes a firstresilient member 21 and a second resilient member 22. A first end of thefirst resilient member 21 is connected to the first arm 11, and a secondend of the first resilient member 21 is connected to the first linkagearm 121. The first resilient member 21 applies a pulling force to thefirst linkage arm 121, so that the first linkage arm 121 is biased torotate about the third axis 33 in a clockwise direction. A first end ofthe second resilient member 22 is connected to the first linkage arm121, and a second end of the second resilient member 22 is connected tothe holder 124. The second resilient member 22 applies a pulling forceto the holder 124, so that the holder 124 is biased to rotate about thefifth axis 35. The first resilient member 21 and the second resilientmember 22 can be extension springs.

The second resilient member 22 is located on an interior side of thethird linkage arm 123 and the cover 125. When the linkage mechanism 12enters the storage cavity 53 of the pill storage case 50, the secondresilient member 22 is spaced from the pills stored in the pill storagecase 50 by the third linkage arm 123 and the cover 125, so that thesecond resilient member 22 is prevented from contaminating the pillsstored in the pill storage case 50.

The interior wall 51 of the pill storage case 50 has a curved surface.When the linkage mechanism 12 enters the storage cavity 53 of the pillstorage case 50, the interior wall 51 guides movement of the shovel 1242of the holder 124.

In one embodiment, the first axis 31, the second axis 32, the third axis33, the fourth axis 34, and the fifth axis 35 are substantially parallelto each other.

FIGS. 8-19 illustrate a process of the pill grasping mechanism 400grasping a pill from the pill storage case 50.

In FIG. 8, the main arm 11 is in the predetermined initial position. Thecontacting portion 114 of the main arm 11 abuts against the secondblocking member 15. The blocking member 15 prevents the main arm 11 fromrotating about the first axis 31 in the clockwise direction. Thebreaking portion 113 of the main arm 11 is located between the signaltransmitter 171 and the signal receiver 172, and breaks the signaltransmission between the signal transmitter 171 and the signal receiver172. Thus, the position sensor 17 determines that the main arm 11 is inthe predetermined initial position.

In FIG. 9, the transfer cam 141 of the transfer mechanism 14 startsrotating about the second axis 32 in a counter-clockwise direction. Thedriving wheel 143 of the transfer mechanism 14 rolls along an inner wallof the through hole 1111 of the main arm 11, thus driving the main arm11 to rotate about the first axis 31 in a counter-clockwise direction.The linkage mechanism 12 and the nozzle 13 are just about to enter thestorage cavity 53 of the pill storage case 50, and the breaking portion113 of the main arm 11 is just about to leave the position sensor 17.

In FIG. 10, the transfer cam 141 of the transfer mechanism 14 continuesrotating about the second axis 32 in a counter-clockwise direction. Thedriving wheel 143 of the transfer mechanism 14 continues rolling alongthe inner wall of the through hole 1111 of the main arm 11, and drivingthe main arm 11 to rotate about the first axis 31 in a counter-clockwisedirection. The linkage mechanism 12 and the nozzle 13 enter the storagecavity 53 of the pill storage case 50. The breaking portion 113 of themain arm 11 leaves the position sensor 17, thereby enabling the signaltransmission between the signal transmitter 171 and the signal receiver172 to recommence. Thus, the position sensor 17 determines that the mainarm 11 has left the predetermined initial position. In this position,the nozzle 13 can pick a pill from a high level of the storage cavity 53when the storage cavity 53 is fully filled with pills.

In FIG. 11, when the nozzle 13 does not pick a pill in the highposition, the transfer cam 141 of the transfer mechanism 14 continuesrotating about the second axis 32 in a counter-clockwise direction. Thedriving wheel 143 of the transfer mechanism 14 continues rolling alongthe inner wall of the through hole 1111 of the main arm 11, and drivingthe main arm 11 to rotate about the first axis 31 in a counter-clockwisedirection. The shovel 1242 of the holder 124 contacts the curved surfaceof the interior wall 51 and moves along the curved surface under theguidance of the interior wall 51. In this position, the nozzle 13 canpick a pill from a middle level of the storage cavity 53 when thestorage cavity 53 is half full.

In FIG. 12, when the nozzle 13 does not pick a pill from the middlelevel, the transfer cam 141 of the transfer mechanism 14 continuesrotating about the second axis 32 in a counter-clockwise direction. Thedriving wheel 143 of the transfer mechanism 14 continues rolling alongthe inner wall of the through hole 1111 of the main arm 11, and drivingthe main arm 11 to rotate about the first axis 31 in a counter-clockwisedirection. The protrusion 1214 of the contacting end 1213 of the firstlinkage arm 121 abuts against the contacting surface 161 of the firstblocking member 16. The first blocking member 16 drives the firstlinkage arm 121 to rotate about the third axis 33 in a counter-clockwisedirection. The shovel 1242 continues moving along the interior wall 51.In this position, the nozzle 13 can pick a pill from a low level of thestorage cavity 53 if the storage cavity 53 is almost empty of pills.

In FIG. 13, when the nozzle 13 does not pick a pill from the low level,the transfer cam 141 of the transfer mechanism 14 continues rotatingabout the second axis 32 in a counter-clockwise direction. The drivingwheel 143 of the transfer mechanism 14 continues rolling along the innerwall of the through hole 1111 of the main arm 11, and driving the mainarm 11 to rotate about the first axis 31 in a counter-clockwisedirection. The first blocking member 161 continues driving the firstlinkage arm 121 to rotate about the third axis 33 in a counter-clockwisedirection, and the shovel 1242 continues moving along the interior wall51. In this position, the nozzle 13 can pick a pill from a lowest levelof the storage cavity 53.

In FIG. 14, when the nozzle 13 does not pick a pill from the lowestlevel, the transfer cam 141 of the transfer mechanism 14 continuesrotating about the second axis 32 in a counter-clockwise direction. Thedriving wheel 143 of the transfer mechanism 14 continues rolling alongthe inner wall of the through hole 1111 of the main arm 11, and drivingthe main arm 11 to rotate about the first axis 31 in a counter-clockwisedirection. The first blocking member 161 continues driving the firstlinkage arm 121 to rotate about the third axis 33 in a counter-clockwisedirection. The shovel 1242 of the holder 124 moves to the right and uplevel under the guidance of the interior wall 51, until the nozzle 13picks a pill in the storage cavity 53 of the pill storage case 50.

When the nozzle 13 has picked a pill from the pill storage case 50, thetransfer cam 141 of the transfer mechanism 14 starts rotating about thesecond axis 32 in a clockwise direction. The driving wheel 143 of thetransfer mechanism 14 rolls along the inner wall of the through hole1111 of the main arm 11, and drives the main arm 11 to rotate about thefirst axis 31 in a clockwise direction.

In FIG. 15, the transfer cam 141 of the transfer mechanism 14 continuesrotating about the second axis 32 in a clockwise direction. The drivingwheel 143 of the transfer mechanism 14 continues driving the main arm 11to rotate about the first axis 31 in a clockwise direction. The shovel1242 and the nozzle 13 move to the bottom position of the storage cavity53 of the pill storage case 50.

FIG. 16 shows the transfer cam 141 of the transfer mechanism 14continuing to rotate about the second axis 32 in a clockwise direction.The driving wheel 143 of the transfer mechanism 14 continues driving themain arm 11 to rotate about the first axis 31 in a clockwise direction.The shovel 1242 and the nozzle 13 move to the lowest position of thestorage cavity 53 of the pill storage case 50.

In FIG. 17, the transfer cam 141 of the transfer mechanism 14 continuesrotating about the second axis 32 in a clockwise direction. The drivingwheel 143 of the transfer mechanism 14 continues driving the main arm 11to rotate about the first axis 31 in a clockwise direction. The shovel1242 and the nozzle 13 move up from the lowest position of the storagecavity 53 of the pill storage case 50.

In FIG. 18, the transfer cam 141 of the transfer mechanism 14 continuesrotating about the second axis 32 in a clockwise direction. The drivingwheel 143 of the transfer mechanism 14 continues driving the main arm 11to rotate about the first axis 31 in a clockwise direction. At thispoint, the shovel 1242 and the nozzle 13 have left the storage cavity 53of the pill storage case 50. The breaking portion 113 of the main arm113 is about to move to interrupt the line between the signaltransmitter 171 and the signal receiver 172.

In FIG. 19, the main arm 11 returns to the predetermined initialposition. The contacting portion 114 of the main arm 11 abuts againstthe second blocking member 15. The second blocking member 15 preventsthe main arm 11 from rotating about the first axis 31 in a clockwisedirection. The breaking portion 113 of the main arm 113 is locatedbetween the signal transmitter 171 and the signal receiver 172 andbreaks the signal transmission between the signal transmitter 171 andthe signal receiver 172. Thus, the position sensor 17 determines thatthe main arm 11 is in the predetermined initial position. The transfercam 141 of the transfer mechanism 14 stops rotating, and the drivingwheel 143 of the transfer mechanism 14 stops driving the main arm 11 torotate accordingly.

Referring to FIGS. 4 and 20-22, a pill grasping method comprises thefollowing blocks. The pill grasping method is implemented after thepatient sets a time and dose of each kind of pill.

In block 701, the driving mechanism 450 rotates the grasping arm 10 withthe nozzle 13 to the predetermined initial position.

In block 702, the actuating mechanism 330 rotates the tray 320 toposition the corresponding pill storage case 50 in a predetermined pillgrasping position, to allow the grasping arm 10 to pick pills from thepill storage case 50.

In block 703, the driving mechanism 450 rotates the grasping arm 10 toenter into the corresponding pill storage case 50. The torsion forceobtaining unit 220 obtains the actual torsion force value of the secondmotor 441 of the driving mechanism 450, and the time recording unit 230records the actual time of grasping pill of the grasping arm 10.

In block 704, the pump 430 is turned on to generate a vacuum in thenozzle 13 to suck a pill, and the pressure sensor 440 senses an actualpressure value of the pipe 470.

In block 705, the pressure determining unit 260 determines if the actualpressure value is less than a predetermined pressure value. The actualpressure value is less than the predetermined pressure value when thenozzle 13 sucks the pill. When the actual pressure value is less thanthe predetermined pressure value, and the method goes to block 706.Otherwise, the method goes to block 801.

In block 706, the driving mechanism 450 rotates the grasping arm 10 tothe predetermined initial position.

In block 707, the pressure determining unit 260 determines if the actualpressure value is less than the predetermined pressure value. When theactual pressure value is less than the predetermined pressure value, themethod goes to block 708. When the actual pressure value is greater thanor equal to the predetermined pressure value, the method goes to theblock 703.

In block 708, the actuating mechanism 330 rotates the tray 320 toposition the pill output case 53 in the predetermined grasping pillposition.

In block 709, the pump 430 is turned off, and the pill sucked by thenozzle 13 drops into the pill output case 53 and slides out of theenclosure 100.

In block 710, an alarm is sent.

When the pressure value is greater than the predetermined pressure, themethod further includes block 801.

In block 801, the torsion force determining unit 240 determines if theactual torsion force value is greater than a predetermined limitationvalue. If the actual torsion force value is greater than thepredetermined limitation value, the method goes to block 802. Otherwise,the method goes to the block 704.

In block 802, the driving mechanism 450 rotates the grasping arm 10 tothe predetermined initial position.

In block 803, the time determining unit 250 determines if the actualtime is greater than a predetermined time. If the actual time is greaterthan the predetermined time, the method goes to block 804. Otherwise,the method goes to the block 703.

In block 804, the controlling chip 200 starts the shaking member 340.The shaking member 340 shakes the pill storage case 50 for apredetermined time duration and sets the actual time to zero, then themethod goes to the block 703.

It is to be understood that even though numerous characteristics andadvantages have been set forth in the foregoing description ofembodiments, together with details of the structures and functions ofthe embodiments, the disclosure is illustrative only and changes may bemade in detail, including in the matters of shape, size, and arrangementof parts within the principles of the disclosure. The disclosedembodiments are illustrative examples, and are not intended to limit thescope of the following claims.

What is claimed is:
 1. A pill grasping method, the method comprising:rotating a grasping arm with a nozzle to a predetermined initialposition driven by a driving mechanism; rotating a plurality of pillstorage cases to locate one of the plurality of pill storages with a setpill species to a predetermined grasping pill position driven by anactuating mechanism; rotating the grasping arm to stretch into the oneof the plurality of pill storage case; starting a pump to generatevacuum to the nozzle for sucking a pill; determining if an actualpressure value in a pipe connecting the nozzle to the pump being lessthan a predetermined pressure value; and rotating the grasping arm tothe predetermined initial position when the actual pressure is less thanthe predetermined pressure value.
 2. The pill grasping method of claim1, wherein after the block of rotating the grasping arm to thepredetermined initial position when the actual pressure is less than thepredetermined pressure value, the method further comprises: determiningif the actual pressure value is less than the predetermined pressurevalue; rotating a pill output case to the predetermined grasping pillposition when the actual pressure value is not less than thepredetermined pressure value; powering off the pump to drop out of thepill to the pill output case; and sending a notice signal.
 3. The pillgrasping method of claim 2 further comprising: rotating the grasping armto stretch into the one of the plurality of pill storage case when theactual pressure value is greater than the predetermined pressure value.4. The pill grasping method of claim 1, wherein after the block ofrotating the grasping arm to stretch into the one of the plurality ofpill storage case before the block of determining if an actual pressurevalue in a pipe connecting the nozzle with the pump being less than apredetermined pressure value, the method further comprises: sensing theactual pressure value of the pipe.
 5. The pill grasping method of claim1, wherein after the block of rotating a plurality of pill storage casesto locate one of the plurality of pill storages with a set pill speciesto a predetermined grasping pill position and before the block ofstarting a pump to generate an vacuum to the nozzle for suck a pill, themethod further comprises: obtaining an actual torsion force value of thedriving mechanism; determining if the actual pressure value is less thanthe predetermined pressure value; determining if the actual torsionforce value is greater than a predetermined limitation value when theactual pressure value is not less than the predetermined pressure value;and rotating the grasping arm to the predetermined initial position whenthe actual torsion force value is greater than the predeterminedlimitation value.
 6. The pill grasping method of claim 5, wherein afterthe block of rotating a plurality of pill storage cases to locate one ofthe plurality of pill storages with a set pill species to apredetermined grasping pill position and before the block of starting apump to generate an vacuum to the nozzle for suck a pill, the methodfurther comprises: recording an actual time of the grasping arm;determining if the actual time is greater than a predetermined time;starting a shaking member to shake the one of the plurality of pillstorage case when the actual time is greater than the predeterminedtime; and setting the actual time to zero.
 7. The pill grasping methodof claim 6 further comprising: rotating the grasping arm to stretch intothe one of the plurality of pill storage case when the actual time isnot greater than the predetermined time.
 8. The pill grasping method ofclaim 5 further comprising: rotating the grasping arm to stretch intothe one of the plurality of pill storage case when the torsion forcevalue is greater than the predetermined limitation value.
 9. Anautomatic pill grasping apparatus, comprising: a base; a pill graspingmechanism comprising a grasping arm, a nozzle, and a driving mechanism,the grasping arm being rotatably installed on the base, the drivingmechanism attached to the base; and a pill storage mechanism comprisinga plurality of pill storage cases for storing pills, and an actuatingmechanism; the plurality of pill storage cases being rotatably securedto the base, and the actuating mechanism being attached to the base,wherein the plurality of pill storage cases is rotatable relative to thebase driven by the actuating mechanism, the grasping arm is rotatablerelative to the base to stretch the nozzle into one of the plurality ofpill storage cases to suck pills.
 10. The automatic pill graspingapparatus of claim 9, wherein the pill grasping mechanism furthercomprises a pump, and a pipe, the pipe is connected to the pump and thenozzle, and the pump is configured to generate vacuum to the nozzlethrough the pipe.
 11. The automatic pill grasping apparatus of claim 10,wherein the pill grasping mechanism further comprises a filter, and thefilter is configured to filter the vacuum.
 12. The automatic pillgrasping apparatus of claim 9, wherein the grasping arm comprises a mainarm, a linkage mechanism pivotably mounted to the main arm, and atransfer mechanism; the main arm is rotatable about a first axis anddefines an opening, the transfer mechanism comprises a transfer cambeing rotatable about a second axis and a driving wheel mounted to thetransfer cam and received in the opening of the main arm, when thetransfer cam rotates about the second axis, the driving wheel is rotatedabout the second axis by the transfer cam and is adapted to press anedge of the opening of the main arm and to drive the main arm to rotateabout the first axis.
 13. The automatic pill grasping apparatus of claim12, wherein the transfer mechanism further comprises a driving shaftsecured to the transfer cam, the driving wheel is mounted to a free endof the driving shaft, the free end of the driving shaft extends into theopening of the main arm, when the transfer cam rotates about the secondaxis, the driving shaft is rotated about the second axis by the transfercam.
 14. The automatic pill grasping apparatus of claim 13, wherein thefirst axis is substantially parallel to the second axis.
 15. Theautomatic pill grasping apparatus of claim 14, wherein a verticaldistance between the first axis and the second axis is three and onehaft times greater than a horizontal distance between the first axis andthe second axis.
 16. The automatic pill grasping apparatus of claim 14,wherein the transfer cam defines one or more slots for connecting to amotor, the transfer cam is rotated by the motor.
 17. The automatic pillgrasping apparatus of claim 14, wherein a radius of rotation of the mainarm about the first axis is three times greater than a radius ofrotation of the driving shaft about the second axis.
 18. The automaticpill grasping apparatus of claim 14, wherein the linkage mechanismfurther comprises a first linkage arm, a second linkage arm, a thirdlinkage arm, and a holder, the first linkage arm and the second linkagearm are pivotably mounted to the main arm, a first end of the thirdlinkage arm is pivotably mounted to the first linkage arm, a second endof the third linkage arm is pivotably mounted to the second linkage arm,the holder is pivotably mounted to the second linkage arm, and thenozzle is mounted to the holder.
 19. The automatic pill graspingapparatus of claim 18, wherein the holder comprises a receiving portionfor receiving the nozzle and a shovel located on an outer side of thereceiving portion.
 20. The automatic pill grasping apparatus of claim18, further comprising a first blocking member, wherein when the mainarm rotates to a position where the first linkage arm abuts against thefirst blocking member, the first blocking member is adapted to drive thefirst linkage arm to rotate relative to the main arm.